diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5019856654cee7f992c18d9799ec4f4c4489978d..3975c4b8a8a03c5543e59f24013af2d2dc42932f 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -108,7 +108,7 @@ install(FILES
     data/urdf/sideWall.urdf
     data/urdf/sideWall_long.urdf
 	data/urdf/downSlope.urdf
-	data/urdf/downSlope.urdf
+	data/urdf/slalom.urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
   )
 install(FILES
diff --git a/script/dynamic/downSlope_hrp2_interp.py b/script/dynamic/downSlope_hrp2_interp.py
index 61da36653dd492369feadd62b85c134cca6345cc..b028750592e239d6da72e4c306a2caa89eb3e489 100644
--- a/script/dynamic/downSlope_hrp2_interp.py
+++ b/script/dynamic/downSlope_hrp2_interp.py
@@ -109,13 +109,17 @@ player = fullBodyPlayerHrp2.Player(fullBody,pp,tp,configs,draw=False,use_window=
 
 #player.displayContactPlan()
 
-player.interpolate(3,20)
+player.interpolate(4,5)
 
 
 
 """
+import hpp.corbaserver.rbprm.tools.cwc_trajectory
+import hpp.corbaserver.rbprm.tools.path_to_trajectory
+import hpp.corbaserver.rbprm.tools.cwc_trajectory_helper
 
 reload(hpp.corbaserver.rbprm.tools.cwc_trajectory)
+reload(hpp.corbaserver.rbprm.tools.path_to_trajectory)
 reload(hpp.corbaserver.rbprm.tools.cwc_trajectory_helper)
 reload(fullBodyPlayerHrp2)
 
diff --git a/script/dynamic/downSlope_hrp2_pathKino.py b/script/dynamic/downSlope_hrp2_pathKino.py
index 5839a2b94f108ab7d9e3541097d4efa8652e256f..3a51a455d3676e924f6402b65f003732a508db93 100644
--- a/script/dynamic/downSlope_hrp2_pathKino.py
+++ b/script/dynamic/downSlope_hrp2_pathKino.py
@@ -26,7 +26,7 @@ urdfName = 'hrp2_trunk_flexible'
 urdfNameRom =  ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
 urdfSuffix = ""
 srdfSuffix = ""
-vMax = 4;
+vMax = 2;
 aMax = 6;
 extraDof = 6
 
@@ -48,7 +48,7 @@ rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
 # We also bound the rotations of the torso. (z, y, x)
 rbprmBuilder.boundSO3([-0.1,0.1,-0.65,0.65,-0.2,0.2])
 rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof)
-rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([-4,4,-1,1,-2,2,0,0,0,0,0,0])
+rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([-2,2,-0.5,0.5,-2,2,0,0,0,0,0,0])
 indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace()
 
 # Creating an instance of HPP problem solver and the viewer
diff --git a/script/dynamic/fullBodyPlayer.py b/script/dynamic/fullBodyPlayer.py
index 35a74c2d6c127af807a5d77d9757cfea30245306..c2aa1c4d045c832153e6cba85c44f08260697764 100644
--- a/script/dynamic/fullBodyPlayer.py
+++ b/script/dynamic/fullBodyPlayer.py
@@ -28,8 +28,8 @@ class Player (object):
 						    self.larmId : {'file': "hyq/"+self.larmId+"_com.ineq", 'effector' : self.lHand} }
 
 
-    def act(self,i, numOptim = 0, use_window = 0, friction = 0.5, optim_effectors = True, time_scale = 1,  verbose = True, draw = False, trackedEffectors = []):
-	    return step(self.fullBody, self.configs, i, numOptim, self.pp, self.limbsCOMConstraints, friction, optim_effectors = optim_effectors, time_scale = time_scale, useCOMConstraints = False, use_window = use_window,
+    def act(self,i, numOptim = 0, use_window = 1, friction = 0.5, optim_effectors = True, time_scale = 1,  verbose = True, draw = False, trackedEffectors = []):
+	    return step(self.fullBody, self.configs, i, numOptim, self.pp, self.limbsCOMConstraints, friction, optim_effectors = optim_effectors, time_scale = time_scale, useCOMConstraints = True, use_window = use_window,
 	    verbose = verbose, draw = draw, trackedEffectors = trackedEffectors,use_velocity=self.use_velocity, pathId = self.pathId)
 
     def initConfig(self):
@@ -101,7 +101,7 @@ class Player (object):
         for i in range(begin,end):
             self.act(i,1,optim_effectors=self.optim_effector,draw=self.draw)
 		
-    def play(self,frame_rate = 1./60.):
+    def play(self,frame_rate = 0.01):
 	    play_traj(self.fullBody,self.pp,frame_rate)
 	
 
diff --git a/script/tools/screenCap.py b/script/tools/screenCap.py
index 9425890013e1dfcecebabdc6138f9db6b33ae4c2..a1a39428ce3442b37f2b7314cd73e3a1a5b57398 100644
--- a/script/tools/screenCap.py
+++ b/script/tools/screenCap.py
@@ -28,6 +28,13 @@ time.sleep(2)
 player.displayContactPlan(1)
 tp.r.stopCapture ()
 
+import time
+r(configs[6])
+tp.r.startCapture ("capture/capture","png")
+time.sleep(2)
+player.play(1/2.)
+tp.r.stopCapture ()
+
 
 
 
@@ -38,7 +45,7 @@ tp.r.stopCapture ()
 """
 
 ## avconv (bash) commands
-avconv -i capture_0_%d.png -r 30 -vcodec mpeg4 -qscale 1 -mbd rd -flags +mv4+aic -trellis 2 -cmp 2 -subcmp 2 -g 300 -y downSlope_hrp2_contactPlan2.mp4
+avconv -i capture_0_%d.png -r 30 -vcodec mpeg4 -qscale 1 -mbd rd -flags +mv4+aic -trellis 2 -cmp 2 -subcmp 2 -g 300 -y downSlope_hrp2_interpolation2.mp4
 
 avconv -i capture_0_%d.png -r 30 -vcodec mpeg4 -qscale 1 -mbd rd -flags +mv4+aic -trellis 2 -cmp 2 -subcmp 2 -g 300 -pass 2  hyq_darpa.mp4